Show EOL distros:
Package Summary
The AR pair tracking package
- Maintainer status: developed
- Maintainer: Jihoon Lee <jihoonl AT yujinrobot DOT com>
- Author: Daniel Stonier, Jihoon Lee, Jorge Santos Simon
- License: BSD
- Bug / feature tracker: https://github.com/yujinrobot/yujin_ocs/issues
- Source: git https://github.com/yujinrobot/yujin_ocs.git (branch: indigo)
Package Summary
The AR pair tracking package
- Maintainer status: developed
- Maintainer: Jihoon Lee <jihoonl AT yujinrobot DOT com>
- Author: Daniel Stonier, Jihoon Lee, Jorge Santos Simon
- License: BSD
- Bug / feature tracker: https://github.com/yujinrobot/yujin_ocs/issues
- Source: git https://github.com/yujinrobot/yujin_ocs.git (branch: kinetic)
Package Summary
The AR pair tracking package
- Maintainer: Jihoon Lee <jihoonl AT yujinrobot DOT com>
- Author: Daniel Stonier, Jihoon Lee, Jorge Santos Simon
- License: BSD
- Bug / feature tracker: https://github.com/yujinrobot/yujin_ocs/issues
- Source: git https://github.com/yujinrobot/yujin_ocs.git (branch: release/0.8-melodic)
Contents
Overview
Configured by two AR Markers this package tracks the markers and computes a relative pose from the robot to the midpoint(of the baseline) between two markers.
Why two markers
You can do this with a single ar marker - it will supply you with all the information you need - a full six degrees of position and orientation information. However, the orientation data can often be quite dodgy. Detection rates and the position data on the other hand is quite reliable, so here we use position data from the two ar markers to provide more robustness than we could get with ar marker data from one.
Usage
The node can track a multiple pairs of AR markers. The AR Pair lists are configurable through subscriber topic.
Client source code explains what to configure.
ROS APIs
yocs_ar_pair_tracking_node
Subscribed Topics
update_ar_pairs (yocs_msgs/ARPairList)- Updates a list of ar pairs to track.
Published Topics
~spotted_markers (invalid message type for MsgLink(msg/type))- string identifying which markers are spotted - 'none', 'left', 'right', 'both'.
- pose with covariance stamped for use to set an initial pose for amcl (assuming /map is at the base of the midpoint of the two ar markers.
- 2d pose between sensor and target location, use for an approach controller.
Parameters
publish_transforms (bool, default: true)- Publish transform tree
- global frame of robot. e.g) map
- frame where marker is detected.
- robot's root frame
